Search results for: compass mapping

Authors: Zhongxu Chen, Jun Yang, Heyue Mao, Xiaoyu Zheng

Abstract:

Hemorrhage Disease of Grass Carp (HDGC) is a kind of commonly occurring illnesses in summer, and the extremely high death rate result in colossal losses to aquaculture. As the complex connections among each factor which influences aquiculture diseases, there-s no quit reasonable mathematical model to solve the problem at present.A BP neural network which with excellent nonlinear mapping coherence was adopted to establish mathematical model; Environmental factor, which can easily detected, such as breeding density, water temperature, pH and light intensity was set as the main analyzing object. 25 groups of experimental data were used for training and test, and the accuracy of using the model to predict the trend of HDGC was above 80%. It is demonstrated that BP neural network for predicating diseases in HDGC has a particularly objectivity and practicality, thus it can be spread to other aquiculture disease.

Keywords: Aquaculture, Hemorrhage Disease of Grass Carp, BP Neural Network

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Authors: Xinde Li, Xinhan Huang, Min Wang

Abstract:

In this paper, we propose the pre-processor based on the Evidence Supporting Measure of Similarity (ESMS) filter and also propose the unified fusion approach (UFA) based on the general fusion machine coupled with ESMS filter, which improve the correctness and precision of information fusion in any fields of application. Here we mainly apply the new approach to Simultaneous Localization And Mapping (SLAM) of Pioneer II mobile robots. A simulation experiment was performed, where an autonomous virtual mobile robot with sonar sensors evolves in a virtual world map with obstacles. By comparing the result of building map according to the general fusion machine (here DSmT-based fusing machine and PCR5-based conflict redistributor considereded) coupling with ESMS filter and without ESMS filter, it shows the benefit of the selection of the sources as a prerequisite for improvement of the information fusion, and also testifies the superiority of the UFA in dealing with SLAM.

Keywords: DSmT, ESMS filter, SLAM, UFA

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Authors: Nawfal A. Mehdi, Ali Mamat, Hamidah Ibrahim, Shamala K. Syrmabn

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The increase on the demand of IT resources diverts the enterprises to use the cloud as a cheap and scalable solution. Cloud computing promises achieved by using the virtual machine as a basic unite of computation. However, the virtual machine pre-defined settings might be not enough to handle jobs QoS requirements. This paper addresses the problem of mapping jobs have critical start deadlines to virtual machines that have predefined specifications. These virtual machines hosted by physical machines and shared a fixed amount of bandwidth. This paper proposed an algorithm that uses the idle virtual machines bandwidth to increase the quote of other virtual machines nominated as executors to urgent jobs. An algorithm with empirical study have been given to evaluate the impact of the proposed model on impatient jobs. The results show the importance of dynamic bandwidth allocation in virtualized environment and its affect on throughput metric.

Keywords: Insufficient bandwidth, virtual machine, cloudprovider, impatient jobs.

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Authors: Sh. A. Yousif, M. Bhave

Abstract:

There is strong evidence that water channel proteins 'aquaporins (AQPs)' are central components in plant-water relations as well as a number of other physiological parameters. We had previously reported the isolation of 24 plasma membrane intrinsic protein (PIP) type AQPs. However, the gene numbers in rice and the polyploid nature of bread wheat indicated a high probability of further genes in the latter. The present work focused on identification of further AQP isoforms in bread wheat. With the use of altered primer design, we identified five genes homologous, designated PIP1;5b, PIP2;9b, TaPIP2;2, TaPIP2;2a, TaPIP2;2b. Sequence alignments indicate PIP1;5b, PIP2;9b are likely to be homeologues of two previously reported genes while the other three are new genes and could be homeologs of each other. The results indicate further AQP diversity in wheat and the sequence data will enable physical mapping of these genes to identify their genomes as well as genetic to determine their association with any quantitative trait loci (QTLs) associated with plant-water relation such as salinity or drought tolerance.

Keywords: Aquaporins, homeologues, PIP, wheat

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Authors: Whee Yen Wong, Chan Wai Lee, Kim Yeow Tshai

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Producing IT products/services required carefully designed. IT development process is intangible and labour intensive. Making optimal use of available resources, both soft (knowledge, skill-set etc.) and hard (computer system, ancillary equipment etc.), is vital if IT development is to achieve sensible economical advantages. Apart from the norm of Project Life Cycle and System Development Life Cycle (SDLC), there is an urgent need to establish a general yet widely acceptable guideline on the most effective and efficient way to precede an IT project in the broader view of Product Life Cycle. The current paper proposes such a framework with two major areas of concern: (1) an integration of IT Products and IT Services within an existing IT Process architecture and; (2) how IT Product and IT Services are built into the framework of Product Life Cycle, Project Life Cycle and SDLC.

Keywords: Mapping of Quality Relationship, IT Processes/IT Products/IT Services, Product Life Cycle, System Development Life Cycle.

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Authors: Yanhua Jin, Won Suk Lee

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The two-dimensional gel electrophoresis method (2-DE) is widely used in Proteomics to separate thousands of proteins in a sample. By comparing the protein expression levels of proteins in a normal sample with those in a diseased one, it is possible to identify a meaningful set of marker proteins for the targeted disease. The major shortcomings of this approach involve inherent noises and irregular geometric distortions of spots observed in 2-DE images. Various experimental conditions can be the major causes of these problems. In the protein analysis of samples, these problems eventually lead to incorrect conclusions. In order to minimize the influence of these problems, this paper proposes a partition based pair extension method that performs spot-matching on a set of gel images multiple times and segregates more reliable mapping results which can improve the accuracy of gel image analysis. The improved accuracy of the proposed method is analyzed through various experiments on real 2-DE images of human liver tissues.

Keywords: Proteomics, spot-matching, two-dimensionalelectrophoresis.

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Authors: Nader Gharibnavaz, Mostafa Mosadeghi, Naser Gharibnavaz

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In today's world where everything is rapidly changing and information technology is high in development, many features of culture, society, politic and economy has changed. The advent of information technology and electronic data transmission lead to easy communication and fields like e-learning and e-commerce, are accessible for everyone easily. One of these technologies is virtual training. The "quality" of such kind of education systems is critical. 131 questionnaires were prepared and distributed among university student in Toba University. So the research has followed factors that affect the quality of learning from the perspective of staff, students, professors and this type of university. It is concluded that the important factors in virtual training are the quality of professors, the quality of staff, and the quality of the university. These mentioned factors were the most prior factors in this education system and necessary for improving virtual training.

Keywords: Training , Virtual Training, Strategic Positioning, Positioning Mapping, Unique Selling Proposition, Strong Brands, Indoors industry

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Authors: M. Fakharian, M. I. Khodakarami

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In this paper, a new trend for improvement in semianalytical method based on scale boundaries in order to solve the 2D elastodynamic problems is provided. In this regard, only the boundaries of the problem domain discretization are by specific subparametric elements. Mapping functions are uses as a class of higherorder Lagrange polynomials, special shape functions, Gauss-Lobatto- Legendre numerical integration, and the integral form of the weighted residual method, the matrix is diagonal coefficients in the equations of elastodynamic issues. Differences between study conducted and prior research in this paper is in geometry production procedure of the interpolation function and integration of the different is selected. Validity and accuracy of the present method are fully demonstrated through two benchmark problems which are successfully modeled using a few numbers of DOFs. The numerical results agree very well with the analytical solutions and the results from other numerical methods.

Keywords: 2D Elastodynamic Problems, Lagrange Polynomials, G-L-Lquadrature, Decoupled SBFEM.

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Authors: Dalvir Singh, Somnath Chattopadhyaya

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During welding or flame cutting of metals, the prediction of heat affected zone (HAZ) is critical. There is need to develop a simple mathematical model to calculate the temperature variation in HAZ and derivative analysis can be used for this purpose. This study presents analytical solution for heat transfer through conduction in mild steel plate. The homogeneous and nonhomogeneous boundary conditions are single variables. The full field analytical solutions of temperature measurement, subjected to local heating source, are derived first by method of separation of variables followed with the experimental visualization using infrared imaging. Based on the present work, it is suggested that appropriate heat input characteristics controls the temperature distribution in and around HAZ.

Keywords: Conduction Heat Transfer, Heat Affected Zone (HAZ), Infra-Red Imaging, Numerical Method, Orthogonal Function, Plasma Arc Cutting, Separation of Variables, Temperature Measurement.

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Authors: Marko A. Rodriguez

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There exists an injective, information-preserving function that maps a semantic network (i.e a directed labeled network) to a directed network (i.e. a directed unlabeled network). The edge label in the semantic network is represented as a topological feature of the directed network. Also, there exists an injective function that maps a directed network to an undirected network (i.e. an undirected unlabeled network). The edge directionality in the directed network is represented as a topological feature of the undirected network. Through function composition, there exists an injective function that maps a semantic network to an undirected network. Thus, aside from space constraints, the semantic network construct does not have any modeling functionality that is not possible with either a directed or undirected network representation. Two proofs of this idea will be presented. The first is a proof of the aforementioned function composition concept. The second is a simpler proof involving an undirected binary encoding of a semantic network.

Keywords: general-modeling, multi-relational networks, semantic networks

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Authors: Nasser M. Amaitik, Ngwan F. Elsagzli

Abstract:

Lean technique is very important in the service and industrial fields. It is defined as an effective tool to eliminate the wastes. In lean the wastes are defined as anything which does not add value to the end product. There are wastes that can be avoided, but some are unavoidable for many reasons.    

The present study aims to apply the principles of lean in two different sectors, healthcare and industry. Two case studies have been selected to apply the experimental work. The first case was Al-Jalaa Hospital, while the second case study was the Technical Company of Aluminum Sections in Benghazi, LIBYA. In both case studies the Value Stream Map (VSM) of the current state has been constructed. The proposed plans have been implemented by merging or eliminating procedures or processes.

The results obtained from both case studies showed improvement in Capacity, Idle time and Utilized time.

Keywords: Healthcare service delivery, Idle time, Lean principles, Utilized time, Value stream mapping, Wastes.

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Authors: Peyman Shadman Heidari, Mohammad Khorasani

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The principal purpose of this article is to present a new method based on Adaptive Neural Network Fuzzy Inference System (ANFIS) to generate additional artificial earthquake accelerograms from presented data, which are compatible with specified response spectra. The proposed method uses the learning abilities of ANFIS to develop the knowledge of the inverse mapping from response spectrum to earthquake records. In addition, wavelet packet transform is used to decompose specified earthquake records and then ANFISs are trained to relate the response spectrum of records to their wavelet packet coefficients. Finally, an interpretive example is presented which uses an ensemble of recorded accelerograms to demonstrate the effectiveness of the proposed method.

Keywords: Adaptive Neural Network Fuzzy Inference System, Wavelet Packet Transform, Response Spectrum.

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Authors: Purnomo Yustianto, Robin Doss

Abstract:

As a process of developing a service system, the term ‘service engineering’ evolves in scope and definition. To achieve an integrated understanding of the process, a general framework and an ontology are required. This paper extends a previously built service engineering framework by exploring metamodels for the framework artefacts based on a foundational ontology and a metamodel landscape. The first part of this paper presents a correlation map between the proposed framework with the ontology as a form of evaluation for the conceptual coverage of the framework. The mapping also serves to characterize the artefacts to be produced for each activity in the framework. The second part describes potential metamodels to be used, from the metamodel landscape, as alternative formats of the framework artefacts. The results suggest that the framework sufficiently covers the ontological concepts, both from general service context and software service context. The metamodel exploration enriches the suggested artefact format from the original eighteen formats to thirty metamodel alternatives.

Keywords: Artefact, framework, service, metamodel.

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Authors: R. Santhosh, T. Ravichandran

Abstract:

This paper evaluates the accrual based scheduling for cloud in single and multi-resource system. Numerous organizations benefit from Cloud computing by hosting their applications. The cloud model provides needed access to computing with potentially unlimited resources. Scheduling is tasks and resources mapping to a certain optimal goal principle. Scheduling, schedules tasks to virtual machines in accordance with adaptable time, in sequence under transaction logic constraints. A good scheduling algorithm improves CPU use, turnaround time, and throughput. In this paper, three realtime cloud services scheduling algorithm for single resources and multiple resources are investigated. Experimental results show Resource matching algorithm performance to be superior for both single and multi-resource scheduling when compared to benefit first scheduling, Migration, Checkpoint algorithms.

Keywords: Cloud computing, Scheduling, Migration, Checkpoint, Resource Matching.

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Authors: Ahmed Tawfik, Fausto Giunchiglia, Vincenzo Maltese

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Ontologies provide a common understanding of a specific domain of interest that can be communicated between people and used as background knowledge for automated reasoning in a wide range of applications. In this paper, we address the design of multilingual ontologies following well-defined knowledge engineering methodologies with the support of novel collaborative development approaches. In particular, we present a collaborative platform which allows ontologies to be developed incrementally in multiple languages. This is made possible via an appropriate mapping between language independent concepts and one lexicalization per language (or a lexical gap in case such lexicalization does not exist). The collaborative platform has been designed to support the development of the Universal Knowledge Core, a multilingual ontology currently in English, Italian, Chinese, Mongolian, Hindi and Bangladeshi. Its design follows a workflow-based development methodology that models resources as a set of collaborative objects and assigns customizable workflows to build and maintain each collaborative object in a community driven manner, with extensive support of modern web 2.0 social and collaborative features.

Keywords: Knowledge Diversity, Knowledge Representation, Ontology Development.

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Authors: H. Iranmanesh, M. Madadi

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Work Breakdown Structure (WBS) is one of the most vital planning processes of the project management since it is considered to be the fundamental of other processes like scheduling, controlling, assigning responsibilities, etc. In fact WBS or activity list is the heart of a project and omission of a simple task can lead to an irrecoverable result. There are some tools in order to generate a project WBS. One of the most powerful tools is mind mapping which is the basis of this article. Mind map is a method for thinking together and helps a project manager to stimulate the mind of project team members to generate project WBS. Here we try to generate a WBS of a sample project involving with the building construction using the aid of mind map and the artificial intelligence (AI) programming language. Since mind map structure can not represent data in a computerized way, we convert it to a semantic network which can be used by the computer and then extract the final WBS from the semantic network by the prolog programming language. This method will result a comprehensive WBS and decrease the probability of omitting project tasks.

Keywords: Expert System, Mind map, Semantic network, Work breakdown structure,

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Authors: Zine-Eddine Bouras, Abdelouaheb Talai

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The need to merge software artifacts seems inherent to modern software development. Distribution of development over several teams and breaking tasks into smaller, more manageable pieces are an effective means to deal with the kind of complexity. In each case, the separately developed artifacts need to be assembled as efficiently as possible into a consistent whole in which the parts still function as described. In addition, earlier changes are introduced into the life cycle and easier is their management by designers. Interaction-based specifications such as UML sequence diagrams have been found effective in this regard. As a result, sequence diagrams can be used not only for capturing system behaviors but also for merging changes in order to create a new version. The objective of this paper is to suggest a new approach to deal with the problem of software merging at the level of sequence diagrams by using the concept of dependence analysis that captures, formally, all mapping, and differences between elements of sequence diagrams and serves as a key concept to create a new version of sequence diagram.

Keywords: System behaviors, sequence diagram merging, dependence analysis, sequence diagram slicing.

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Authors: Artur Krukowski, Emmanouela Vogiatzaki

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The article presents results from the AF3 project “Advanced Forest Fire Fighting” focused on Unmanned Aircraft Systems (UAS)-based 3D surveillance and 3D area mapping using high-resolution photogrammetric methods from multispectral imaging, also taking advantage of the 3D scanning techniques from the SCAN4RECO project. We also present a proprietary embedded sensor system used for the detection of fire ignitions in the forest using near-infrared based scanner with weight and form factors allowing it to be easily deployed on standard commercial micro-UAVs, such as DJI Inspire or Mavic. Results from real-life pilot trials in Greece, Spain, and Israel demonstrated added-value in the use of UAS for precise and reliable detection of forest fires, as well as high-resolution 3D aerial modeling for accurate quantification of human resources and equipment required for firefighting.

Keywords: Forest wildfires, fuel volume estimation, 3D modeling, UAV, surveillance, firefighting, ignition detectors.

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Authors: Xiantong Li, Jianzhong Li

Abstract:

Graph has become increasingly important in modeling complicated structures and schemaless data such as proteins, chemical compounds, and XML documents. Given a graph query, it is desirable to retrieve graphs quickly from a large database via graph-based indices. Different from the existing methods, our approach, called VFM (Vertex to Frequent Feature Mapping), makes use of vertices and decision features as the basic indexing feature. VFM constructs two mappings between vertices and frequent features to answer graph queries. The VFM approach not only provides an elegant solution to the graph indexing problem, but also demonstrates how database indexing and query processing can benefit from data mining, especially frequent pattern mining. The results show that the proposed method not only avoids the enumeration method of getting subgraphs of query graph, but also effectively reduces the subgraph isomorphism tests between the query graph and graphs in candidate answer set in verification stage.

Keywords: Decision Feature, Frequent Feature, Graph Dataset, Graph Query

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Authors: Krisada Lekdee, Sunee Sammatat, Nittaya Boonsit

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This paper proposes a GLMM with spatial and temporal effects for malaria data in Thailand. A Bayesian method is used for parameter estimation via Gibbs sampling MCMC. A conditional autoregressive (CAR) model is assumed to present the spatial effects. The temporal correlation is presented through the covariance matrix of the random effects. The malaria quarterly data have been extracted from the Bureau of Epidemiology, Ministry of Public Health of Thailand. The factors considered are rainfall and temperature. The result shows that rainfall and temperature are positively related to the malaria morbidity rate. The posterior means of the estimated morbidity rates are used to construct the malaria maps. The top 5 highest morbidity rates (per 100,000 population) are in Trat (Q3, 111.70), Chiang Mai (Q3, 104.70), Narathiwat (Q4, 97.69), Chiang Mai (Q2, 88.51), and Chanthaburi (Q3, 86.82). According to the DIC criterion, the proposed model has a better performance than the GLMM with spatial effects but without temporal terms.

Keywords: Bayesian method, generalized linear mixed model (GLMM), malaria, spatial effects, temporal correlation.

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Authors: Tan Kian Lam, Abdullah Zawawi bin Haji Talib, Mohd. Azam Osman

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This paper describes a method of modeling to model shadow play puppet using sophisticated computer graphics techniques available in OpenGL in order to allow interactive play in real-time environment as well as producing realistic animation. This paper proposes a novel real-time method is proposed for modeling of puppet and its shadow image that allows interactive play of virtual shadow play using texture mapping and blending techniques. Special effects such as lighting and blurring effects for virtual shadow play environment are also developed. Moreover, the use of geometric transformations and hierarchical modeling facilitates interaction among the different parts of the puppet during animation. Based on the experiments and the survey that were carried out, the respondents involved are very satisfied with the outcomes of these techniques.

Keywords: Animation, blending, hierarchical modeling, interactive play, real-time, shadow play, visual simulation.

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Authors: S. Anna Durai, E. Anna Saro

Abstract:

In general the images used for compression are of different types like dark image, high intensity image etc. When these images are compressed using Counter Propagation Neural Network, it takes longer time to converge. The reason for this is that the given image may contain a number of distinct gray levels with narrow difference with their neighborhood pixels. If the gray levels of the pixels in an image and their neighbors are mapped in such a way that the difference in the gray levels of the neighbor with the pixel is minimum, then compression ratio as well as the convergence of the network can be improved. To achieve this, a Cumulative Distribution Function is estimated for the image and it is used to map the image pixels. When the mapped image pixels are used the Counter Propagation Neural Network yield high compression ratio as well as it converges quickly.

Keywords: Correlation, Counter Propagation Neural Networks, Cummulative Distribution Function, Image compression.

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Authors: Toshihiko Sasama, Takao Kawamura, Kazunori Sugahara

Abstract:

Using Internet communication, new home electronics have functions of monitoring and control from remote. However in many case these electronics work as standalone, and old electronics are not followed. Then, we developed the total remote system include not only new electronics but olds. This systems node is a adapter of electrical power plug that embed relay switch and some sensors, and these nodes communicate with each other. the system server was build on the Internet, and users access to this system from web browsers. To reduce the cost to set up of this system, communication between adapters are used ZigBee wireless network instead of wired LAN cable[3]. From measured RSSI(received signal strength indicator) information between each nodes, the system can estimate roughly adapters were mounted on which room, and where in the room. So also it reduces the cost of mapping nodes. Using this system, energy saving and house monitoring are expected.

Keywords: outlet, remote monitor, remote control, mobile ad hocnetwork, sensor network, zigbee.

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Authors: Li Kewen, Su Zhaoxin, Wang Xingmou, Zhu Jian Bing

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Conventional reservoir prediction methods ar not sufficient to explore the implicit relation between seismic attributes, and thus data utilization is low. In order to improve the predictive classification accuracy of reservoir lithology, this paper proposes a deep learning lithology prediction method based on ResNet (Residual Neural Network) and SENet (Squeeze-and-Excitation Neural Network). The neural network model is built and trained by using seismic attribute data and lithology data of Shengli oilfield, and the nonlinear mapping relationship between seismic attribute and lithology marker is established. The experimental results show that this method can significantly improve the classification effect of reservoir lithology, and the classification accuracy is close to 70%. This study can effectively predict the lithology of undrilled area and provide support for exploration and development.

Keywords: Convolutional neural network, lithology, prediction of reservoir lithology, seismic attributes.

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Authors: Kostyantyn Yermashov, Karsten Wolke, Karl Hayo Siemsen

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Domain-specific languages describe specific solutions to problems in the application domain. Traditionally they form a solution composing black-box abstractions together. This, usually, involves non-deep transformations over the target model. In this paper we argue that it is potentially powerful to operate with grey-box abstractions to build a domain-specific software system. We present parametric code templates as grey-box abstractions and conceptual tools to encapsulate and manipulate these templates. Manipulations introduce template-s merging routines and can be defined in a generic way. This involves reasoning mechanisms at the code templates level. We introduce the concept of Neurath Modelling Language (NML) that operates with parametric code templates and specifies a visualisation mapping mechanism for target models. Finally we provide an example of calculating a domain-specific software system with predefined NML elements.

Keywords: software design, code templates, domain-specific languages, modelling languages, generic tools

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Authors: Sefa Aksu, Ünal Kızıl

Abstract:

For this study, a town based soil database created in Gümüsçay District of Biga Town, Çanakkale, Turkey. Crop and livestock production are major activities in the district. Nutrient management is mainly based on commercial fertilizer application ignoring the livestock manure. Within the boundaries of district, 122 soil sampling points determined over the satellite image. Soil samples collected from the determined points with the help of handheld Global Positioning System. Labeled samples were sent to a commercial laboratory to determine 11 soil parameters including salinity, pH, lime, organic matter, nitrogen, phosphorus, potassium, iron, manganese, copper and zinc. Based on the test results soil maps for mentioned parameters were developed using remote sensing, GIS, and geostatistical analysis. In this study we developed a GIS database that will be used for soil nutrient management. Methods were explained and soil maps and their interpretations were summarized in the study.

Keywords: Geostatistics, GIS, Nutrient Management, Soil Mapping.

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Authors: Khaing Win Mar, Thinn Thu Naing

Abstract:

Nowadays, precipitation prediction is required for proper planning and management of water resources. Prediction with neural network models has received increasing interest in various research and application domains. However, it is difficult to determine the best neural network architecture for prediction since it is not immediately obvious how many input or hidden nodes are used in the model. In this paper, neural network model is used as a forecasting tool. The major aim is to evaluate a suitable neural network model for monthly precipitation mapping of Myanmar. Using 3-layerd neural network models, 100 cases are tested by changing the number of input and hidden nodes from 1 to 10 nodes, respectively, and only one outputnode used. The optimum model with the suitable number of nodes is selected in accordance with the minimum forecast error. In measuring network performance using Root Mean Square Error (RMSE), experimental results significantly show that 3 inputs-10 hiddens-1 output architecture model gives the best prediction result for monthly precipitation in Myanmar.

Keywords: Precipitation prediction, monthly precipitation, neural network models, Myanmar.

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Authors: Christos A. Ioannou, Panagiotis Panagiotopoulos, Lampros Stergioulas

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The new status generated by technological advancements and changes in the global economy raises important issues on how communities and organisations need to innovate upon their traditional processes in order to adapt to the challenges of the Knowledge Society. The DialogoS+ European project aims to study the role of and promote social dialogue in the banking sector, strengthen the link between old and new members and make social dialogue at the European level a force for innovation and change, also given the context of the international crisis emerging in 2008- 2009. Under the scope of DialogoS+, this paper describes how the community of Europe-s banking sector trade unions attempted to adapt to the challenges of the Knowledge Society by exploiting the benefits of new channels of communication, learning, knowledge generation and diffusion focusing on the concept of roadmapping. Important dimensions of social dialogue such as collective bargaining and working conditions are addressed.

Keywords: Banking sector, knowledge society, road mapping, social dialogue.

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Authors: M. C. Akay, A. Aybakan, H. Temeltas

Abstract:

Aerial and ground robots have various advantages of usage in different missions. Aerial robots can move quickly and get a different sight of view of the area, but those vehicles cannot carry heavy payloads. On the other hand, unmanned ground vehicles (UGVs) are slow moving vehicles, since those can carry heavier payloads than unmanned aerial vehicles (UAVs). In this context, we investigate the performances of various Similarity Metrics to provide a common map for Heterogeneous Robot Team (HRT) in complex environments. Within the usage of Lidar Odometry and Octree Mapping technique, the local 3D maps of the environment are gathered.  In order to obtain a common map for HRT, informative theoretic similarity metrics are exploited. All types of these similarity metrics gave adequate as allowable simulation time and accurate results that can be used in different types of applications. For the heterogeneous multi robot team, those methods can be used to match different types of maps.

Keywords: Common maps, heterogeneous robot team, map matching, informative theoretic similarity metrics.

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Authors: Fereidoun Nowshiravan Rahatabad, Mohammad Ali Nekoui, Mohammad Reza Hashemi Golpaygani, AliFallah, Mehdi Kazemzadeh Narbat

Abstract:

The people are differed by their capabilities, skills and mental agilities. The evolution of human from childhood when they are completely dependent up to adultness the time they gradually set the dependency free is too complicated, by considering they have all started from almost one point but some become cleverer and some less. The main control command of a cybernetic hand should be posted by remaining healthy organs of disabled Person. These commands can be from several channels, which their recording and detecting are different and need complicated study. In this research, we suppose that, this stage has been done or in the other words, the command has been already sent and detected. So the main goal is to control a long hand, upper elbow hand missing, by an interest angle define by disabled. It means that, the system input is the position desired by disables and the output is the elbow-joint angle variation. Therefore the goal is a suitable control design based on neural network theory in order to meet the given mapping.

Keywords: Control - system design, Upper limb prosthesis, neuralnetwork.

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